Discrete-time repetitive process-based iterative learning control for heterogeneous systems with arbitrary interconnections

In this paper, iterative learning control for the trajectory tracking problem of heterogeneous systems interconnected arbitrarily is presented. The existing interconnected system is remodeled as a 1D system including all the subsystems, and then ILC scheme is designed and analyzed by using the discrete-time linear repetitive process (DLRP) which is based on the 2D system theory. The iterative control law used in this paper has the feedback loop of both the state error and tracking error. An illustrative example is given for the validity of the proposed control scheme.